function [ t ] = evaluate_noise(weight, idx, relevant_idx, target_hover_state, H, dt, model)
%UNTITLED4 Summary of this function goes here
%   Detailed explanation goes here
K = reshape(weight, [length(idx.inputs) length(relevant_idx)]);

x(:,1) = target_hover_state;
for t=1:H   
    dx = compute_dx(target_hover_state, x(:,t));
    v = randn(size(dx,1)-1,1)*0.1;
    dx(1:end-1) = dx(1:end-1) + v;
    delta_u = K*dx(relevant_idx);
    noise_F_T = randn(6,1);
    x(:,t+1) = f_heli(x(:,t), delta_u, dt, model, idx, noise_F_T);
    if(norm(x(idx.ned,t+1) - target_hover_state(idx.ned,:)) > 15*length(target_hover_state(idx.ned,:)))
        break;
    end
end

end

